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add end point for gripper

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Ilya Uraev 2022-02-26 16:59:37 +04:00
parent 3a19ed45d1
commit 4497395032
4 changed files with 112 additions and 14 deletions
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18
rasmt_support/urdf/robot/rasmt_single_macro.xacro
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@ -4,7 +4,7 @@
<xacro:include filename="$(find rasmt_support)/urdf/robot/rasmt_single_control.xacro"/>
<xacro:include filename="$(find rasmt_support)/urdf/robot/rasmt_single_gazebo.xacro"/>
<xacro:macro name="rasmt_single" params="prefix parent sim xyz">
<xacro:macro name="rasmt_single" params="prefix parent sim xyz gripper_length">
<joint name="to_${parent}" type="fixed">
@ -401,5 +401,21 @@
<xacro:rasmt_single_gazebo prefix="${prefix}"/>
<xacro:rasmt_single_control prefix="${prefix}" sim="${sim}"/>
<link name="${prefix}_tool0"/>
<joint name="${prefix}_tool0_fixed" type="fixed">
<parent link="${prefix}_Dock_Link"/>
<child link="${prefix}_tool0"/>
<origin xyz="0 0 0.12324" rpy="0 0 0"/>
<axis xyz="0 0 0"/>
</joint>
<link name="${prefix}_tool_end_point"/>
<joint name="${prefix}_tool_end_point_to_tool0" type="fixed">
<parent link="${prefix}_tool0"/>
<child link="${prefix}_tool_end_point"/>
<origin xyz="0 0 ${gripper_length}" rpy="0 0 0"/>
<axis xyz="0 0 0"/>
</joint>
</xacro:macro>
</robot>